#coding=utf-8
import numpy as np
import os


# Aruco码相对于jaka基座的转换矩阵
M=np.matrix([[0,    -1, 0,  -9.5],
             [1,    0,  0,  -408.5],
             [0,    0,  1,  0],
             [0,    0,  0,  1]])

# jaka基座相对于Aruco码的转换矩阵
inv_M=np.matrix([[0,    1,  0,   408.5],
                 [-1,   0,  0,   -9.5],
                 [0,    0,  1,   0],
                 [0,    0,  0,   1]])


RAD2DEG=180.0/3.1415926
DEG2RAD=3.1415926/180.0



NUC_IP="192.168.1.103"
NUC_PORT=56789


AGV_POSITION_YAML="./config/agv_position.yaml"